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TPM 207-D402-XP User Manual
1
207-D402-XP
User Manual
Version: V1.0 2019 Nov. 18
To properly use the product, read this manual thoroughly is necessary.
Part No.: 81-18D402-010
TPM 207-D402-XP User Manual
2
Revision History
Date Revision Description
2019/11/18 1.0 Document creation.
TPM 207-D402-XP User Manual
3
© Copyright 2019 TPM The product, including the product itself, the accessories, the software, the manual and the software
description in it, without the permission of TPM Inc. (“TPM”), is not allowed to be reproduced, transmitted,
transcribed, stored in a retrieval system, or translated into any language in any form or by any means, except
the documentation kept by the purchaser for backup purposes.
The names of products and corporations appearing in this manual may or may not be registered trademarks,
and may or may not have copyrights of their respective companies. These names should be used only for
identification or explanation, and to the owners’ benefit, should not be infringed without any intention.
The product’s name and version number are both printed on the product itself. Released manual visions for
each product design are represented by the digit before and after the period of the manual vision number.
Manual updates are represented by the third digit in the manual vision number.
Trademark
◼ Windows 7/8/10, Visual Studio are registered trademarks of Microsoft.
◼ Beckhoff®, TwinCAT®, EtherCAT®, Safety over EtherCAT®, TwinSAFE® are registered trademarks of
and licensed by Beckhoff Automation GmbH.
TPM 207-D402-XP User Manual
4
Electrical safely
◼ To prevent electrical shock hazard, disconnect the power cable from the electrical outlet before relocating
the system.
◼ When adding or removing devices to or from the system, ensure that the power cables for the devices are
unplugged before the signal cables are connected. Disconnect all power cables from the existing system
before you add a device.
◼ Before connecting or removing signal cables from motherboard, ensure that all power cables are
unplugged.
◼ Seek professional assistance before using an adapter or extension card. These devices could interrupt the
grounding circuit.
◼ Make sure that your power supply is set to the voltage available in your area.
◼ If the power supply is broken, contact a qualified service technician or your retailer.
Operational safely
◼ Please carefully read all the manuals that came with the package, before installing the new device.
◼ Before use the product, ensure all cables are correctly connected and the power cables are not damaged. If
the power cables are detected damaged, contact the dealer immediately.
◼ To avoid short circuits, keep paper clips, screws, and staples away from connectors, slots, sockets and
circuitry.
◼ Avoid dust, humidity, and temperature extremes. Do not place the product in any area where it may
become wet.
◼ If you encounter technical problems with the product, contact a qualified service technician or the dealer.
TPM 207-D402-XP User Manual
5
Contents
CONTENTS ........................................................................................................................................................................................ 5
1. ETHERCAT INTRODUCTION ............................................................................................................................................. 7
1.1 INTRODUCTION ........................................................................................................................................................................... 7
1.2 SYSTEM CONFIGURATIONS ............................................................................................................................................................ 8
1.3 DATA TRANSITION ....................................................................................................................................................................... 8
1.4 ETHERCAT TOOL: TWINCAT ......................................................................................................................................................... 9
2. PRODUCT OVERVIEW ................................................................................................................................................... 10
2.1 NAMING RULE .......................................................................................................................................................................... 10
2.2 DIMENSION ............................................................................................................................................................................. 10
2.3 207-D402-XP SPECIFICATIONS ................................................................................................................................................... 11
2.4 CONNECTION ........................................................................................................................................................................... 12
2.4.1 Switch Description ...................................................................................................................................... 12
2.4.2 LED Description ......................................................................................................................................... 13
2.4.3 EtherCAT Communication .......................................................................................................................... 16
2.4.4 Power Connector ......................................................................................................................................... 16
2.4.5 207-D402-XP – Pin Definition ................................................................................................................... 17
2.5 SIGNAL CIRCUIT ........................................................................................................................................................................ 18
3. TWINCAT 3 OPERATION ................................................................................................................................................ 19
3.1 INSTALL THE ESI DEVICE DESCRIPTION ........................................................................................................................................... 19
3.2 CREATE THE ETHERCAT DEVICE ................................................................................................................................................... 20
3.3 SCAN THE ETHERCAT DEVICE ...................................................................................................................................................... 22
4. ETHERCAT BASIC INFORMATION ................................................................................................................................... 29
4.1 SYMBOLS AND ABBREVIATIONS .................................................................................................................................................... 29
4.2 DATA TYPES ............................................................................................................................................................................. 30
4.3 SPECIFICATION LIST .................................................................................................................................................................... 31
4.4 ESM (ETHERCAT STATE MACHINE) .............................................................................................................................................. 32
5. PROCESS DATA OBJECTS (PDOS) ................................................................................................................................... 34
5.1 TXPDO LIST [SLAVE TRANSMITS DATA TO MASTER] ......................................................................................................................... 34
5.2 RXPDO LIST [MASTER TRANSMITS DATA TO SLAVE] ......................................................................................................................... 34
5.2.1 16-Ch. Digital Outputs (7000h) .................................................................................................................. 34
6. SERVICE DATA OBJECTS (SDOS) ..................................................................................................................................... 35
6.1 STATION ALIAS (4000H)............................................................................................................................................................. 36
TPM 207-D402-XP User Manual
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6.1.1 Device Addressing ...................................................................................................................................... 37
6.2 OUTPUT PORT AUTO RESET SETTING (4001H) ............................................................................................................................... 40
6.3 RETAIN VARIABLE OPERATION (4005H) ........................................................................................................................................ 41
6.4 SAVE PARAMETERS (1010H) ....................................................................................................................................................... 42
6.5 RESTORE DEFAULT PARAMETERS (1011H) ..................................................................................................................................... 42
TPM 207-D402-XP User Manual
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1. EtherCAT Introduction
1.1 Introduction
EtherCAT® is an ultra-high-speed serial communication system. This technology is widely applied in factory
and machinery automation industries. EtherCAT® is real-time down to the I/O level. The transmission rate of
EtherCAT® is 2 x 100 Mbit/s, which makes it the fastest ethernet. Each EtherCAT® slave device reads and
writes the data by the function of "on the fly". One can extract or insert bits or bytes without suspending the
system. Each EtherCAT® segment can connect up to 65,535 nodes. With 100BASE-TX, the distance between
two nodes is up to 100M with EtherCAT®. With 100BASE-FX (fiber optics), the distance between two nodes
is longer than 100M.
Precise synchronization is one of the features of EtherCAT®. The Distributed Clocks (DC) can adjust the
time of Master and Slaves to achieve the synchronization. The time of synchronization is less than 1μs.
EtherCAT® also leads to lower solution costs because of the low-cost slave controller with FPGA, small
volume with EtherCAT® instead of IPC, and so on. EtherCAT® is IEC, ISO, and SEMI standard protocol.
The slave controller can provide interoperability. The master stacks are suitable for various Real-time
Operating System (RTOS).
TPM 207-D402-XP User Manual
8
1.2 System Configurations
1.3 Data Transition
TPM 207-D402-XP User Manual
9
1.4 EtherCAT Tool: TwinCAT
TwinCAT® is the EtherCAT® tool which is developed by Beckhoff. The TwinCAT® (The Windows Control
and Automation Technology) automation suite forms the core of the control system. The TwinCAT® software
system turns almost any PC-based system into a real-time control with multiple PLC, NC, CNC and/or robotics
runtime systems.
All TPM modules can be tested with TwinCAT® easily. With the RJ45 cable, EtherCAT® Master and
EtherCAT® slaves can connect to achieve the control system. EZE-xxx model names will be displayed on
TwinCAT® for users to operate system conveniently. Carrier specific model name will not be listed.
TPM 207-D402-XP User Manual
10
2. Product Overview
2.1 Naming Rule
2 0 7 - D 4 0 2 - X P EtherCAT Plug-in
module Digital EtherCAT
series X 2 DO X PNP type
Output
2.2 Dimension
12
2 m
m
66mm
CN6CN5
CN7
CN1
CN2
00
04
10
14
03
07
13
17
P0 P1 R E
TPM 207-D402-XP User Manual
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2.3 207-D402-XP Specifications
EtherCAT
Serial interface Fast Ethernet, Full-Duplex
Distributed Clock 1ms
Cable type CAT5 UTP/STP Ethernet cable
Surge protection 10KV
Transmission speed 100 Mbps
Communication type DC
Digital I/O
I/O isolation voltage 3750Vrms
Output type PNP MOSFET-P
Digital output
16-channel
Max. Current 500mA per Ch.
Response Time:
On to Off about 50μs,
Off to On about 10μs
Over Current Protection 4A (max) for each port (8-channel)
General
Power input 24VDC±10%
Power consumption 3W typical
Working temperature 0 to 60°C
Size L122 x W66 x H104 mm
TPM 207-D402-XP User Manual
12
2.4 Connection
12
2 m
m
66mm
CN6CN5
CN7
CN1
CN2
00
04
10
14
03
07
13
17
P0 P1 R E
2.4.1 Switch Description
11 2 3 4 5 6 7 8
A0
A1
A2
A3
A4
A5
A6
A7
SW
1
1
1 2 3 4 5 6 7 8
Note that node number = 128*A7 + 64*A6 + 32*A5 + 16*A4 + 8*A3 + 4*A2 + 2*A1 + 1*A0
Default values are all off.
Label Function
CN1 I/O Signal Connector
CN2 I/O Signal Connector
CN5 EtherCAT Communication IN
CN6 EtherCAT Communication OUT
CN7 Power Connector
Pin Label On Off
1 A7 1 0
2 A6 1 0
3 A5 1 0
4 A4 1 0
5 A3 1 0
6 A2 1 0
7 A1 1 0
8 A0 1 0
TPM 207-D402-XP User Manual
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2.4.2 LED Description
00
04
10
14
03
07
13
17
P0 P1 R E
00 01 02 03
04 05 06 07
PORT#0(DO)
PORT#1(DO)
00
04
10
14
03
07
13
17
P0 P1 R EP0 P1 R E
Disp Label Disp Label
00 Port#0 Bit0 10 Port#1 Bit0
01 Port#0 Bit1 11 Port#1 Bit1
02 Port#0 Bit2 12 Port#1 Bit2
03 Port#0 Bit3 13 Port#1 Bit3
04 Port#0 Bit4 14 Port#1 Bit4
05 Port#0 Bit5 15 Port#1 Bit5
06 Port#0 Bit6 16 Port#1 Bit6
07 Port#0 Bit7 17 Port#1 Bit7
LED Description
P0 - Yellow DC +24V In Normal Level
P1 - Yellow DC +5V Supply for Internal
R - Green In Normal Communication
E - Red Error Communication
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There are four patterns below indicating the LED status besides ON and OFF.
Pattern 1: Flickering
50ms 50ms
Pattern 2: Blinking
200ms200ms
Pattern 3: Single flash
200ms
Pattern 4: Double flash
200ms200ms
200ms1000ms
TPM 207-D402-XP User Manual
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Run Indicator
Run Indicator indicates the ESM (EtherCAT® State Machine) status. LED lights in green.
LED Status Meaning
OFF ESM: In INIT state
Blinking ESM: In Pre-operational state
Single Flash ESM: In Safe-operational state
ON ESM: Operation state
Error Indicator
Error Indicator indicates an alarm defined in the AL Status Code. LED Lights in red.
LED Status Meaning
OFF No occurrence of alarms defined in the AL status code
Blinking Communication setup error
Single flash Synchronous event error
Double flash Application watchdog timeout
Flickering Initialization error
ON PDI error
TPM 207-D402-XP User Manual
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2.4.3 EtherCAT Communication
◆ Communication IN and OUT
CN6CN5
1 1
IN
OU
T
◆ Ethernet LED Status
2.4.4 Power Connector
1
CN6CN5
CN7
CN1
CN2
00
04
10
14
03
07
13
17
P0 P1 R E
No. Description
1 TX+
2 TX-
3 RX+
4 -
5 -
6 RX-
7 -
8 -
LED Description
Left
(Green)
Speed indicator:
Green on – Operating as a 100/1000-Mbps
connection.
Off – Operating as a 10-Mbps connection.
Right
(Orange)
Link/Activity indicator:
Blinking – There is activity on this port.
Off – No link is established.
No. Label Description
1 24VS DC 24V Input
for module internal
2 GNDS DC 24V ground
for module internal
3 FG Field ground
4 24V DC 24V Input
for external
5 GND DC 24V ground
6 FG Field ground
* Max. 8A input current each DC 24V contact
TPM 207-D402-XP User Manual
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2.4.5 207-D402-XP – Pin Definition
CN1
CN6CN5
CN7
CN1
CN2
00
04
10
14
03
07
13
17
P0 P1 R E
CN1
Pin Label Function
P00 Out_00 Port#0 Bit0 Output
P01 Out _01 Port#0 Bit1 Output
P02 Out _02 Port#0 Bit2 Output
P03 Out _03 Port#0 Bit3 Output
P04 Out _04 Port#0 Bit4 Output
P05 Out _05 Port#0 Bit5 Output
P06 Out _06 Port#0 Bit6 Output
P07 Out _07 Port#0 Bit7 Output
P0A 24V DC 24V Output
P0B GND DC 24V Ground
CN6CN5
CN7
CN1
CN2
00
04
10
14
03
07
13
17
P0 P1 R E
CN2
CN2
Pin Label Function
P10 Out_10 Port#1 Bit0 Output
P11 Out _11 Port#1 Bit1 Output
P12 Out _12 Port#1 Bit2 Output
P13 Out _13 Port#1 Bit3 Output
P14 Out _14 Port#1 Bit4 Output
P15 Out _15 Port#1 Bit5 Output
P16 Out _16 Port#1 Bit6 Output
P17 Out _17 Port#1 Bit7 Output
P1A 24V DC 24V Output
P1B GND DC 24V Ground
TPM 207-D402-XP User Manual
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2.5 Signal Circuit
◆ Digital Output Signal Circuit (PNP type)
5.6K
PNP
Internal Cu rcui t
24V
Internal Cu rcui t
LO AD
SD
G
P-MOSFET
GND
24V
GND
DI
DO
TPM 207-D402-XP User Manual
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3. TwinCAT 3 Operation
3.1 Install the ESI Device Description
Step 1 Copy the ESI file “(207) EZE_D402_XP_V1xxxSxxxx.xml”.
EZE_D402_XP_V1xxxSxxxx_rls
.
Note1 207-D402 series is a form factor of EZE-D402 combined with carrier board.
Both 207-D402 and EZE-D402 are applied the same esi file
Note2 Please update the latest ESI file. If there is any question, please contact your vendor.
Step 2 Paste the ESI file into the EtherCAT Master PC’s folder:
C:\TwinCAT\3.1\Config\Io\EtherCAT
TPM 207-D402-XP User Manual
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3.2 Create the EtherCAT Device
Step 1 Open Visual Studio 2017.
Step 2 Open a new TwinCAT project.
TPM 207-D402-XP User Manual
21
Step 3 Provide a name to this project “207-D402 Test”.
Step 4 Click button “OK” to finish creating the project.
TPM 207-D402-XP User Manual
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3.3 Scan the EtherCAT Device
Step 1 Right-click on “Device”.
Step 2 Select “Scan”.
Note
Before scan the device, the TwinCAT System Manager may first have to be set to "Config mode".
TPM 207-D402-XP User Manual
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Step 3 Click “OK”.
Step 4 Click “OK”.
Step 5 Click “Yes”.
Step 6 Click “Yes”.
TPM 207-D402-XP User Manual
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Step 7 The name of the slave will be shown as “EZE_D402_XP”.
Step 8 If the slave is not found, please do the following steps.
TPM 207-D402-XP User Manual
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Step 8-1 Double click “Box 1” with green point.
Step 8-2 Click “EtherCAT”, and check the “Version” of the slave.
Step 8-3 Check if the version is the same with the ESI file.
1000 0200 Decimal Hexadecimal
X
O
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Step 9 Double click “Device 2”, and select “Adapter”.
Step 10 The detailed information of the Device will show at “Description”, “Device Name”,
“MAC Address”, and “IP Address”.
TPM 207-D402-XP User Manual
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Step 10-1 If the detailed information of the Device isn’t shown or is garbled, please select “Compatible
Devices”.
Step 10-2 Select your “Local LAN”, and click button “Install”.
TPM 207-D402-XP User Manual
28
Step 10-3 Click “Search”, select your “Local LAN”, and click button “OK”.
Step 10-4 After finishing the above steps, the detailed information of the Device will show at
“Description”, “Device Name”, “MAC Address”, and “IP Address”.
TPM 207-D402-XP User Manual
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4. EtherCAT Basic Information
4.1 Symbols and Abbreviations
Abbreviation Term Description
AL AL-layer EtherCAT Application Layer Service
CiA CAN in Automation A non-profit organization established in 1992 as a joint venture
between companies to provide CAN technical information, product
information, and marketing information.
CAN Controller Area Network Communications protocol for the physical layer and data link layer
established for automotive LANs. It was established as an
international standard as ISO 11898.
CANopen CANopen An upper-layer protocol based on the international CAN standard (EN
50325-4). It consists of profile specifications for the application layer,
communications, applications, devices, and interfaces.
CoE CANopen over EtherCAT A network that uses Ethernet for the physical layer, EtherCAT for the
data link layer, and CANopen for the application layer in a seven-
layer OSI reference model.
DC Distributed Clocks A clock distribution mechanism that is used to synchronize
the EtherCAT slaves with the EtherCAT master.
EEPROM Electrically Erasable
Programmable Read Only
Memory
A ROM that can be electrically overwritten.
ESC EtherCAT Slave Controller A hardware chip that processes EtherCAT communications
(such as loopbacks) and manages the distributed clock.
ESM EtherCAT State Machine A state machine in which the state of EtherCAT (the data link
layer) changes according to transition conditions.
ETG EtherCAT Technology
Group
An international organization established in 2003 to provide
support for developing EtherCAT technologies and to promote
the spread of EtherCAT technologies.
EtherCAT Ethernet for Control
Automation Technology
An open network developed by Beckhoff Automation.
FMMU Fieldbus Memory
Management Unit
A unit that manages fieldbus memory.
INIT INIT The Init state in the EtherCAT state machine.
OD Object Dictionary A group of objects and structure supported by an EtherCAT
SERVOPACK.
TPM 207-D402-XP User Manual
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PDI Physical Device Internal
Interface
A set of elements that allows access to DL-Service from the AL
PDO Process Data Object Objects that are sent and received in cyclic communications.
PDO mapping
Definitions
Process Data Object
Mapping
Definitions of the applications objects that are sent with
PDOs.
SDO Service Data Object Objects that are sent and received in mailbox communications.
PREOP PRE-OPERATIONAL The Pre-operational state in the EtherCAT state machine.
RXPDO Receive Process Data Object The process data received by the ESC.
TXPDO Transmit Process Data
Object
The process data sent by the ESC.
SM Sync. Manager The ESC unit that coordinates data exchange between the master and
slaves.
ro Read only COE Object just can be read only
rw Read & write COE Object just can be read and written.
SAVE Save to flash memory There is flash memory on K121 which can be used to save retain
variables.
STLD Step Loss Detection Function is used to detect the loss of stepper motor when it is running.
FoE File transfer over EtherCAT File can transfer over EtherCAT like Ethernet operation.
4.2 Data Types
The following table lists the data types and ranges that are used in this manual
Symbol Data Type Range
BOOL Boolean True or False
I8 Signed 8-bit integer -128 to 127
I16 Signed 16-bit integer -32,768 to 32,767
I32 Signed 32-bit integer -2,147,483,648 to 2,147,483,627
U8 Unsigned 8-bit integer 0 to 255
U16 Unsigned 16-bit integer 0 to 65535
U32 Unsigned 32-bit integer 0 to 4,294,967,295
F32 32-bit float
F64 64-bit double float
STRING Character string –
TPM 207-D402-XP User Manual
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4.3 Specification List
Item Specification
Physical layer 100 BASE-TX (IEEE802.3)
Baud rate 100 Mbps, Full Duplex
Topology Line
Connection cable Twist pair CAT5e
Cable length Between nodes: up to 100 m
Number of slaves
connected
Up to 65535
EtherCAT Indicators RUN/ERROR/LINK(IN/OUT)
RUN: Green LED, ERROR: RED LED, LINK(IN/OUT): Green LED
Station Alias (ID) Range: 0 to 65535, SII Save Value
Explicit Device ID Supported
Device profile MDP, ETG5001.1
SyncManager 4
FMMU 3
Synchronous Mode DC (SYNC0 event synchronization)
Free Run (No Slave application synchronization)
Cycle Time Minimum DC time: 1ms
Communication object SDO (Service Data Object)
PDO (Process Data Object)
SDO message Supported: SDO Request, SDO Response, SDO information
Not supported: Emergency Message, Complete Access
Maximum number of
PDO assigns
RxPDO: 4 [table]
TxPDO: 4 [table]
Maximum PDO data
length
RxPDO: 25 [byte]
TxPDO: 25 [byte]
Diagnosis Object Not supported
Command Object Not supported
Firmware update Firmware download to update via FoE
TPM 207-D402-XP User Manual
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4.4 ESM (EtherCAT State Machine)
The EtherCAT State machine (ESM) is used to manage the communications states between the master and
slave applications when EtherCAT communications are started and during operation, as show in the following
figure.
Normally, the requests of state changes are from the master. The master requests the change by writing the
ESM with the request to be changed in the AL control register of the slaves. The slave confirms the result of
the state change as either successful or failed and then responds to the master with the local AL status. If the
requested state change fails, the slave responds with an error flag.
Init
Pre_Operational Bootstrap
Safe-Operational
Operational
Safe-Operational
(OI) (OP)
(PI)
(OS)
(SP) (SI)
(BI) (IB)
(SO)
(PS)
(IP)
Power On
⚫ ESM contains states
Symbol Name Communication Operation Description
INIT Init The communication part is
initializing and the transmission
and reception with both SDO
(Mailbox) and PDO are
impossible
INIT state defines basic communication relation
between the master and slave in the application layer.
Direct communication between the master and slaves
is not possible in the application layer. The master
uses the INIT state to initialize the setting for the
configuration of the slaves. When the slaves support
the mailbox service, the corresponding SM settings
will also be executed in INIT state.
PREOP Pre-
Operational
Possible to send and receive data
through SDO (Mailbox)
The mailbox communication can be performed in the
PREOP state when the slaves support the optional
mailbox. Both master and slaves can use the mailbox
to initialize application specifications and to change
parameters. Process data communication cannot be
executed in this state.
TPM 207-D402-XP User Manual
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SAFEOP Safe-
Operational
The transmission (from slave to
master) with PDO as well as the
transmission and reception over
SDO (Mailbox) are possible.
In SAFEOP state, Slave applications transfer the
actual input data, but not the output data that may not
be available for processing. The output must be set in
this state.
OP Operational Possible to send and receive
both SDO (Mailbox) and PDO.
In OP state, slave applications transfer the actual input
data and the master application transfers the actual
output data.
BOOT Bootstrap Impossible to send and receive
both SDO and PDO in this state.
In BOOT state, slave applications can receive new
firmware downloaded to the FoE (File access over
EtherCAT).
⚫ State transition and local Management Service
Transition
Symbol
Direction Local Management Service
IP INIT => PREOP Start Mailbox Communication
PI PREOP => INIT Stop Mailbox Communication
PS PREOP =>
SAVEOP
Start Input Update
SP SAVEOP =>
PREOP
Stop Input Update
SO SAVEOP => OP Start Output Update
OS OP => SAVEOP Stop Output Update
OP OP => PREOP Stop Input Update, Stop Output Update
SI SAVEOP =>
INIT
Stop Input Update, Stop Mailbox Communication
OI OP => INIT Stop Input Update, Stop Output Update, Stop Mailbox
Communication
IB INIT => BOOT Start Firmware Update (FoE), Start Bootstrap Mode
BI BOO => INIT Start Firmware Update (FoE), Restart Device
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5. Process Data Objects (PDOs)
The CANOpen over EtherCAT protocol allows the user to map objects to PDOs (Process Data Objects) in
order to use the PDO for real-time data transfer. The PDO mappings define which objects will be included in
the PDOs. PDO is composed of RxPDO transferring from master to slave and TxPDO transferring from slave
to master.
Note The object updates by the PDO should not carry out updating by SDO because the data of SDO
will be covered by the data of PDO.
PDO types Sender Receiver
TxPDO Slave Master
RxPDO Master Slave
5.1 TxPDO List [Slave transmits data to Master]
None.
5.2 RxPDO List [Master transmits data to Slave]
5.2.1 16-Ch. Digital Outputs (7000h)
Index Sub-
Index
Name/Description Units Range Data
Type
Acc-
ess
PDO OP
Mode
Save to
EEPROM
7000h 16 Channels Digital Outputs
00h Highest sub-index
supported
– 0x00~0xFF U8 ro 1 – No
0x01 Port_0
CH0-CH1 -> Bit0-Bit7
– 0 - 255 U8 rw RxPDO OP No
0x02 Port_1
CH0-CH1 -> Bit0-Bit7
– 0 - 255 U8 rw RxPDO OP No
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6. Service Data Objects (SDOs)
Index Sub-
Index
Name/Description Units Range Data
Type
Acc-
ess
Default
value
OP
Mode
Save to
EEPROM
1010h 01h Store parameters – – – rw 0 OP No
1011h 01h Restore default
parameters
– – – rw 0 OP No
4000h Station Alias
01h Selection – (0~2) I16 rw 1 All Yes
(OP)
02h Setup (High byte) – (0x00~0xFF) I16 rw 0 All Yes
(OP)
03h Station Switch – 0x00~0xFF I16 rw 0 All No
04h Station Alias – 0x0000~0xFFFF I16 ro 0 All No
4001h Output Port Auto Reset Setting
00h Output Port Auto Reset
Setting
– 0x0000~0xFFFF U16 rw 0x0000 PreOP Yes
4005h Retain Variable Operation
01h Control Word – 0x0000~0xFFFF U16 rw – All No
02h Status Word – 0x0000~0xFFFF U16 ro – All No
03h State of Control Cycle – 0x00~0x99 U16 ro – All No
TPM 207-D402-XP User Manual
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6.1 Station Alias (4000h)
Index Sub-
Index
Name/Description Units Range Data
Type
Acc
-ess
Default
value
OP
Mode
Save to
EEPROM
4000h Station Alias
01h Selection _ 0~2 U8 rw 1 All Yes
(OP)
02h Setup (High byte) – 0x00~0xFF U8 rw 0 All Yes (OP)
03h Station Switch – 0x00~0xFF U8 ro – All No
04h Station Alias – 0x0000~0x0000 U16 ro – All No
Index Sub-
Index
Name/Description Units Range Data
Type
Acc
-ess
Default
value
OP
Mode
Save to
EEPROM
4000h Station Alias
01h Selection – 0~2 U8 rw 1 All Yes
how to set a station alias (Default is 1)
Value Definition
0 The value saved at 004h in the SII is set as station alias.
1 The value made of object 4000h:02h and dip switch of amplifier is set as station
alias. (*1)
2 Read station alias via AL control word
(*1) If Setting values for both the dip switch and object 4000h:02 are 0, the value of the SII area (0004h) is regard as
Station Alias.
02h Setup (High byte) – 0x00~0xFF U8 rw 0 All Yes (OP)
High byte of Station Alias
How to set the parameters with dip switch and object 4000h:02h
Station Alias (16 bits)
High byte Low Byte
Value set by
4000h:02h
Value set by dip switch
03h Station Switch – 0x00~0xFF U8 ro 0 All No
This parameter is to show the value of Station ID Switch which is in front of device. This value will be refreshed when the
switch is changed.
04h Station Alias – 0x0000~0x0000 U16 ro 0 All No
This parameter is to show the station alias which will be refreshed After power on.
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6.1.1 Device Addressing
The device can be addressed via Device Position Address (Auto Increment address), by Node Address
(Configured Station Address/Configured Station Alias), or by a Broadcast.
⚫ Position Addressing (Auto-Increment Addressing)
In this mode, the datagram holds the position address of the addressed slave as a negative value. Each slave
increments the address. The slave which reads the address equal zero is addressed and will execute the
appropriate command at receives.
Position Addressing should only be used during starting up of the EtherCAT system to scan the fieldbus and
later only occasionally to detect newly attached slaves.
⚫ Node Addressing (Fixed Addressing)
The configured Station Address is assigned by the master during start up and cannot be changed by the
EtherCAT slave. The Configured Station Alias address is stored in the ESI EEPROM. The Configured Station
Alias must be enabled by the master. The appropriate command action will be executed if Node Address
matches with either Configured Station Address or Configured Station Alias.
The slave matched to the address set at station register (0x0010) from the master by position addressing is
normally addressed in node addressing. This enables access without fail even when a device is added, the
segment topology has changed and/or the slave has been removed.
The respective slave node address is set with the dip switch at the front of the device and CoE Object dictionary
4000h. 0 - 65535 axes addresses can be set using the 8 dip switch (0x00 - 0xFF:bit7 - 0) at the front of the
device and with a set value of bit 15 – 8, previously written in the non-volatile memory (4000h:02h) inside the
device. When the alias selection (4000h:01h) is set to 1, the setting values will be written in the station alias
setting register (0x0012) in an address space after the control power has been turned ON. When the device
address has changed under the control power ON status, re-input the power to enable the change in axis address.
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0120hbit5
AL Control
0130hbit5
AL Status
0134hbit5
Al Status Code
4000h Station Alias Selection 01h
4000hStation Alias Setup
(High byte) 02h
0010hConfigured Station
Address
0012hConfigured Station
Alias
Slave CPU
0004hConfigured Station
Alias
SII (EEPROM)
Station Alias ID (Low Byte )Set by Dip Switch
Slave
Master
(1)
ESC (EtherCAT Slave Controller)
(4)
(2)
(3)
Object Backup(EEPROM)
(1.) Set the position address by the master
The slave matched to the address set at station register (0x0010) from the master by position addressing is
normally addressed in node addressing.
(2.) Reading the value of SII from configured station alias (4000h:01h=0)
Setting the value of CoE object 4000h:01h to 0 and reading the value of 0004h (Configured Station Alias) in
the SII from 0012h (Configured Station Alias) of ESC register. The device reads the value of object 4000h:01h
(Configured Station selection) from backup EEPROM at the control power-on. If the value is 0, the value
saved at 0004h (Configured Station Alias) in the SII into 0012h (Configured Station Alias) of ESC register
and master reads this value.
(3.) Reading the value of dip switch from Configured Station Alias (4000h:01h=1)
Setting the value of CoE object 4000h:01h to 1 and reading the value which is combined by object 4000h:02h
(Station Alias Setup (high byte)) and dip switch on the front of device from 0012h (Configured Station Alias)
of ESC register. The device reads the value of the object 4000h:01h (Station alias selection) from backup
EEPROM at the control power-on. If the value is 1, the value made of object 4000h:02h (Station alias
setup(high)) and dip switch on the front of device from 0012h (Configured Station Alias) of ESC register.
Master reads this value.
(4.) Reading the value of dip switch from AL Status Code (Explicit Device ID) (4000h:01h=2)
Reading the value which is combined by object 4000h:02h (Station Alias Setup (high byte)) and dip switch
on the front of device from 0012h (Configured Station Alias) of ESC register.
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(1.) Bit5 (ID Request) of AL Control (0120h) is set to 1.
(2.) The Station Alias set up by dip switch (low byte) and 4006h:02h (high byte) returns to AL Status Code
(0134h).
(3.) To put bit5 (ID Loaded) of AL Status (0130h) from 0 to 1.
(4.) When bit5 (ID Request) of control register is set from 1 to 0, the bit5 (ID Loaded) of AL Status register
(0x130) will change to 0.
(5.) AL Status Code (0134h) is clear.
In the period of returning Station Alias, if an alarm which is defined in the AL status code occurs, AL status
code of the alarm is returned. When the alarm is cleared, Station Alias will return again.
AL Control Reg 0x0120.5(ID Request)
AL Status Reg 0x0130.5(ID Loaded)
AL Status Code 0x0134 Station Alias
Station Alias is requested by the request of AL Control
AL Status Code is cleared without the request of AL Control.
AL Control Reg 0x0120.4(Error Ind Ack)
AL Control Reg 0x0120.5(ID Request)
AL Status Reg 0x0130.4(Error Ind)
AL Status Reg 0x0130.5(ID Load)
AL Status Code Reg 0x134
Station Alias AL Status code of alarm Station Alias
AL status code of alarm is returned if a alarm which is defined in the AL status code occurs
Station Alias will be returned if the alarm is cleared
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6.2 Output Port Auto Reset Setting (4001h) (Only for D222 & D204)
Index Sub-
Index
Name/Description Units Range Data
Type
Acc
-ess
Default
value
OP
Mode
Save to
EEPROM
4001h Output Port Auto Reset Setting
00h Output Port Auto Reset
Setting
– 0x0000~0xFFFF U16 rw 0x0000 PreOP Yes
This parameter is used to set the output port which will be automatically reset when it is not in the OP operational mode.
The number of bit indicates the number of the output port.
Bit0 => Port0, Bit1=> Port1, Bit2=> Port2 ……. Bit15=>Port15
Example for EZE-D222-NN module:
The numbers of output ports are port2 and port3. If you want these ports to be automatically reset, you need to set this
parameter to 0x00c0.
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6.3 Retain Variable Operation (4005h)
Index Sub-
Index
Name/Description Units Range Data
Type
Acc
-ess
Default
value
OP
Mode
Save to
EEPROM
4005h Retain Variable Operation
01h Control Word – 0x0000 ~
0xFFFF
U16 rw – PreOP No
02h Status Word – 0x0000 ~
0xFFFF
U16 ro – PreOP No
03h State of Control Cycle – 0~99 U8 ro 0 All No
Index Sub-
Index
Name/Description Units Range Data
Type
Acc
-ess
Default
value
OP
Mode
Save to
EEPROM
4005h
Retain Variable Operation
01h Control Word 0x0000 ~
0xFFFF
U16 rw 0x0000 All No
03478111215 1314
STA CMDID/PSWD3 PSWD2 PSWD1PSW RW ERST
02h Status Word 0x0000 ~
0xFFFF
U16 ro 0x0000 All No
03478111215 1314
OPEN CMDID Reserved ErrCodeBUSY RW EFLG
03h State of Control Cycle 0~99 U8 ro 0 All No
Value Symbol Description Note
0x00 RETAIN_STATE_WAIT_TO_START Wait to enter retain operation.
Write the Enter Password to start retain operation
See C.2.1
0x01 RETAIN_STATE_WAIT_FOR_NEW_CMD Wait for new read/write command See.C.2.2 / C.2.3
0x02 RETAIN_STATE_EXECUTE_WR_CMD Execute read command
0x03 RETAIN_STATE_EXECUTE_RD_CMD Execute write command
0x04 RETAIN_STATE_WAIT_CMD_FINISH Wait for command finish
0x05 RETAIN_STATE_CMD_IS_FINISHED Command has finished and STA bit set to ‘0’.
0x99 RETAIN_STATE_ERROR Alarm happens for retain operation
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6.4 Save Parameters (1010h)
Index Sub-
Index
Name/Description Units Range Data
Type
Acc
-ess
Default
value
OP
Mode
Save to
EEPROM
1010h Store parameters
00h Highest sub-index
supported
– – U8 ro 1 OP No
01h Save all parameters (0x00000000~0x
FFFFFFFF)
U32 rw 0x0000000
0
OP No
Store parameters. This object is used to write (back up) the objects data into Flash Memory.
When user writes 65766173h (“Save”) into 1010h:01, system will back up the whole target objects with retain
function into Flash Memory.
6.5 Restore Default Parameters (1011h)
Index Sub-
Index
Name/Description Units Range Data
Type
Acc
-ess
Default
value
OP
Mode
Save to
EEPROM
1011h Restore default parameters
00h Highest sub-index
supported
– – U8 ro 1
01h Restore default parameters (0x00000000~0x
FFFFFFFF)
U32 rw 0x00000000 OP No
Restore the default parameters from Flash Memory. This object is used to restore the objects to default values from
Flash Memory.
When user writes 64616F6Ch (“load”) into 1010h:01, system will start to restore the whole target objects with
retain function from Flash Memory.